Pour milk into 1-gallon pot.
Bring the milk just to a boil, stirring occasionally.
If you want thicker yogurt, keep the milk at a gentle boil for a while. For a pudding consistency, I let the milk boil gently for about 3 minutes. To get thick, Greek-style yogurt, I let the milk boil gently for 5 minutes or more.
After the milk has come to a boil (or after you have let it boil as long as you prefer), let the milk cool to 105° F.